The invention relates to a method for guiding from a remote control center a vehicle towards a target object, said remote control center communicating with the vehicle by means of a lagged communication channel, comprising: At the vehicle: (a) Periodically capturing frame images by a camera, assigning to each of said captured frames an associated unique time stamp, and saving within a storage at the vehicle full frame data or partial frame data of captured frames and their associated time stamps; (b) For a plurality of saved frames, sending to the control center via the lagged communication channel full frame data, partial frame data or a combination thereof with the corresponding associated time stamp for each sent frame so that approximate or exact version of the sent frames can be reconstructed and displayed at the control center; At the control center: (c) Receiving said frame data and associated time stamps, sequentially reconstructing frame images from each said sent full and/or partial frame data, and displaying the reconstructed images on a display; (d) Upon marking by an operator at the control center a point on a specific displayed frame, sending coordinates indication relating to said marked point as appearing on said specific frame or on a reference frame available at the control center, and the time stamp associated with said specific or reference frame, as is the case, to the vehicle; At the vehicle: (e) Receiving said coordinates indication as marked and the sent frame time stamp; (f) Given the coordinates indication and frame time stamp as received, fast forward tracing said point or object coordinates from the said frame towards the most recently available captured frame, thereby finding the coordinates of the same point or object as appearing in the most recently available captured frame; and (g) Providing the coordinates of the target point or object within the most recently available captured frame, as found, to an inner guidance sub-system of the vehicle, for enabling it to track said object.